Decision Methodology Based on Dynamic Occupancy Grid Zone for Autonomous Lane Change System on Highways
- Title
- Decision Methodology Based on Dynamic Occupancy Grid Zone for Autonomous Lane Change System on Highways
- Author
- 정정주
- Keywords
- Autonomous driving; Lane change decision; Occupancy grid zone; Risk assessment; Active safety
- Issue Date
- 2019-10
- Publisher
- IEEE
- Citation
- 2019 19th International Conference on Control, Automation and Systems (ICCAS), Page. 1560-1565
- Abstract
- From the perspective of decision-making in autonomous lane change systems, it is very important for a vehicle to recognize itself a driving environment. In this paper, we propose a lane change decision methodology using full-range situation risk assessment based on a dynamic occupancy grid zone. The longitudinal length of the dynamic zone has flexible distances. To make the decision of lane change, collision risk assessment index (CRAI) and vehicle cooperative interaction index (VCII) are proposed to evaluate the driving situations. The CRAI is computed as a ratio of distance collected by automotive radar sensors and pre-defined distance of the dynamic zone. The VCII is available by analyzing an interaction with surrounding vehicles. To verify the methodology, scenario-based experiments were performed in real time with test vehicles in proving ground. In several experiments, the lane changes were performed successfully.
- URI
- https://ieeexplore.ieee.org/document/8971722https://repository.hanyang.ac.kr/handle/20.500.11754/154469
- ISBN
- 978-89-93215-17-5
- ISSN
- 2642-3901
- DOI
- 10.23919/ICCAS47443.2019.8971722
- Appears in Collections:
- COLLEGE OF ENGINEERING[S](공과대학) > ELECTRICAL AND BIOMEDICAL ENGINEERING(전기·생체공학부) > Articles
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